CN106990403B - Low-altitude target tracking method based on the fusion of multiband two-stage information - Google Patents
Low-altitude target tracking method based on the fusion of multiband two-stage information Download PDFInfo
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Abstract
The invention belongs to radar signal processing fields, disclose the low-altitude target tracking method based on the fusion of multiband two-stage information, include: acquisition radar echo signal, obtains the location information of best observed object of the l wave band kth group M frame echo-signal in three-dimensional system of coordinate；And first order measurement fusion is carried out, the target position information after obtaining l wave band kth group echo-signal first order measurement fusion；The filter result of target position information, -1 group echo-signal of l wave band kth after l wave band kth group echo-signal first order measurement fusion and measurement fusion time interval input filter are subjected to tracking filter, successively obtain the filter result of the K group echo-signal of each wave band in L wave band；Setting filtering time of fusion benchmark, second level measurement fusion is carried out in each target position information filtered on time of fusion benchmark to the filter result of the K group echo-signal of each wave band in L wave band, target following is obtained as a result, it is possible to improve the detection probability and tenacious tracking performance of sea-surface target.
Description
Technical Field
The invention belongs to the technical field of radar signal processing, and particularly relates to a low-altitude target tracking method based on multiband two-stage information fusion, which is suitable for a ship-borne radar to track a target in a low-signal-to-noise ratio low-altitude environment.
Background
Sea wars are an important form in modern information wars, and carrier-based radars are important means for sea surface enemy detection. The traditional target detection and tracking method has a blind area when detecting a near-low-altitude flight target on the sea surface. The two main reasons for generating the blind zone are that firstly, because the continuous movement of the seawater generates the sea clutter, when the Doppler channel where the target is located is in the Doppler range of the sea clutter, the echo of the target is completely covered by the sea clutter; secondly, when the target is tracked at low altitude, the direct reflected wave signal from the radar to the target is received, and the reflected wave signal caused by reflection and diffuse scattering generated on the sea surface is also received, so that the multipath effect is formed. The multipath effect causes the amplitude and phase of the radar receiving signal to change, which causes measurement tracking error, and in severe cases, the tracking target may be lost.
Multipath echoes are distinguished from direct reflections in that they are based on direct reflections by adding a product factor term, which is a variable related to radar height, target-to-radar distance, and wavelength. The multipath echo causes the amplitude of the complete echo to change along with the product factor, and when the phase difference between the multipath echo and the direct reflected wave is an obtuse angle, the amplitude of the complete echo is smaller than that of the direct reflected wave, so that the detection performance of the radar on the target is reduced. The influence of the sea clutter can be solved by separating the target from the sea clutter in the doppler domain, and the multipath echoes are not separable in the time domain, the frequency domain or the space domain.
The traditional target detection and tracking are carried out aiming at a single-waveband single-carrier frequency signal, under the low-signal-to-noise-ratio and low-space environment, a target echo signal is completely submerged by a noise signal due to the influence of multipath effect, and the detection probability of a target is greatly reduced.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a low-altitude target tracking method based on multiband two-stage information fusion, which can reduce or even eliminate the influence of multipath effect on target detection and tracking effects in a low-altitude environment, and improve the detection probability and stable tracking performance of a ship-based radar on a sea surface target.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme.
A low-altitude target tracking method based on multi-band two-stage information fusion comprises the following steps:
step 1, obtaining radar echo signals, wherein the radar echo signals comprise echo signals of L wave bands, the echo signals of each wave band are divided into K groups of echoes, and each group of echoes comprises M frames of echo signals;
let L be 1, K be 1, and M be 1, where L be 1,2, …, L, and denote a band index of a radar echo signal, K be 1,2, …, K denote a group number index in each band echo signal, and M be 1,2, …, M denote a frame number index in each group echo signal;
step 2, obtaining target initial observation information according to the kth group of mth frame echo signals of the l wave band, wherein the target initial observation information comprises the number of observation targets, an initial observation distance vector, an initial observation azimuth angle vector and an initial observation pitch angle vector;
the number of the observation targets is multiple, wherein only one observation target is a real target; the initial observation distance vector comprises the distance of each observation target, the initial observation azimuth angle vector comprises the azimuth angle of each observation target, and the initial observation pitch angle vector comprises the pitch angle of each observation target;
step 3, obtaining three-dimensional position coordinate information of each observation target in a three-dimensional coordinate system according to the initial observation distance vector, the initial observation azimuth angle vector and the initial observation pitch angle vector;
step 4, setting three-dimensional coordinate prediction information of a real target in a kth group of mth frame echo signals of the l wave band, and obtaining the position information of the best observation target in a three-dimensional coordinate system of the kth group of mth frame echo signals of the l wave band according to the three-dimensional coordinate prediction information of the real target and the three-dimensional position coordinate information of each observation target;
step 5, adding 1 to the value of M, and repeatedly executing the steps 2 to 4 until M is larger than M; thereby respectively obtaining the position information of the best observation target of the kth group of M frame echo signals of the l wave band in the three-dimensional coordinate system;
step 6, performing first-stage observation fusion on the position information of the optimal observation target in the three-dimensional coordinate system of the kth group of M frame echo signals of the l wave band to obtain the target position information after the first-stage observation fusion of the kth group of echo signals of the l wave band;
step 7, inputting the target position information after the first-stage observation fusion of the kth group of echo signals of the l wave band, the filtering result of the kth-1 group of echo signals of the l wave band and the observation fusion time interval into a filter for tracking filtering to obtain the filtering result of the kth group of echo signals of the l wave band, wherein the filtering result comprises a position in the direction of X, Y, Z, a speed in the direction of X, Y, Z, an acceleration in the direction of X, Y, Z and an error covariance matrix; when k is equal to 1, enabling a filtering result of a kth-1 group of echo signals of an l wave band to be initial target information, wherein the initial target information is an initial position of a target in the direction X, Y, Z;
and 8, adding 1 to the value of k, changing m into 1, and repeatedly executing the steps 2 to 7 until k reaches the value＞K, so as to respectively obtain the filtering results of the first wave band K groups of echo signals;
step 9, adding 1 to the value of L, where K is 1 and m is 1, and repeatedly performing steps 2 to 8 until L is greater than L, thereby obtaining filtering results of K groups of echo signals in each of L bands;
step 10, setting a filtering fusion time reference to obtain target position information of a filtering result of K groups of echo signals of each wave band in L wave bands on the filtering fusion time reference;
and 11, performing second-stage observation fusion on target position information of the filtering result of the K groups of echo signals of each wave band in the L wave bands on each filtering fusion time reference to obtain second-stage filtering fusion target position information, wherein the second-stage filtering fusion target position information comprises positions of the target in the three-dimensional coordinate system corresponding to each moment in the filtering fusion time reference, and thus the positions of the target in the three-dimensional coordinate system corresponding to each moment in the filtering fusion time reference are taken as the motion track of the target, and the low-altitude target tracking result is obtained.
Compared with the prior art, the low-altitude target tracking method based on multiband two-stage information fusion greatly improves the target detection performance in a low-signal-to-noise ratio low-altitude environment, and simultaneously enables the target tracking precision to be higher; in addition, the technical scheme of the invention utilizes multi-carrier frequency echo signals to ensure that at least one carrier frequency echo can detect the target in the low signal-to-noise ratio environment, thereby improving the detection probability of the target: by the method for fusing the observation information in the first-stage wave band, the detection information is more accurate, the single-wave-band tracking performance is improved, and the tracking precision and the tracking stability are further improved by the filtering fusion between the second-stage wave bands.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a low-altitude target tracking method based on multiband two-stage information fusion according to the present invention;
FIG. 2 is a schematic diagram illustrating distance detection comparison between a conventional single-band single-carrier frequency tracking method and a low-altitude target tracking method based on multi-band two-stage information fusion according to the present invention;
fig. 3(a) - (c) are schematic diagrams respectively illustrating distance, azimuth angle, and pitch angle comparison of a conventional single-band single-carrier frequency tracking method and a low-altitude target tracking method based on multiband two-stage information fusion provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A low-altitude target tracking method based on multi-band two-stage information fusion is disclosed, as shown in FIG. 1, and the method comprises the following steps:
step 1, radar echo signals are obtained, wherein the radar echo signals comprise echo signals of L wave bands, the echo signals of each wave band are divided into K groups of echoes, and each group of echoes comprises M frames of echo signals.
Let L be 1, K be 1, and M be 1, where L be 1,2, …, L, and denote a band index of a radar echo signal, K be 1,2, …, K denote a group number index in each band echo signal, and M be 1,2, …, M denote a frame number index in each group echo signal.
And 2, obtaining target initial observation information according to the kth group of mth frame echo signals of the l wave band, wherein the target initial observation information comprises the number of observation targets, an initial observation distance vector, an initial observation azimuth angle vector and an initial observation pitch angle vector.
The number of the observation targets is multiple, wherein only one observation target is a real target; the initial observation distance vector comprises the distance of each observation target, the initial observation azimuth angle vector comprises the azimuth angle of each observation target, and the initial observation pitch angle vector comprises the pitch angle of each observation target.
It is necessary to supplement that the corresponding target initial observation information can be obtained after the mth frame echo signal of the kth group of the l wave band is processed by the traditional radar signal processing flow (pulse compression, moving target detection, constant false alarm detection, monopulse angle measurement and the like).
And 3, obtaining the three-dimensional position coordinate information of each observation target in the three-dimensional coordinate system according to the initial observation distance vector, the initial observation azimuth angle vector and the initial observation pitch angle vector.
Specifically, the initial observation information of the target is equivalent to information in polar coordinates, and a coordinate system conversion is required to be performed to convert the initial observation vectors of the distance, the azimuth angle, and the pitch angle of the target into initial observation information in the direction X, Y, Z in a three-dimensional coordinate system.
And 4, setting three-dimensional coordinate prediction information of real targets in the kth group of mth frame echo signals of the l wave band, and obtaining the position information of the best observation target in a three-dimensional coordinate system of the kth group of mth frame echo signals of the l wave band according to the three-dimensional coordinate prediction information of the real targets and the three-dimensional position coordinate information of each observation target.
In step 4, setting three-dimensional coordinate prediction information of a real target in the mth frame echo signal of the kth group in the l wave band, specifically including:
(4a) when k is equal to 1, setting three-dimensional coordinate prediction information of a real target in the mth frame echo signal of the kth group of the ith wave band as initial target information, wherein the initial target information is an initial position of the target in the direction of X, Y, Z and can be obtained according to prior information;
when k is larger than 1, setting three-dimensional coordinate prediction information of a real target in the echo signal of the kth group of the mth frame of the ith wave band according to the following formula:
wherein, X _ p(l，k，m)、Y_p(l，k，m)、Z_p(l，k，m)Respectively representing the X-direction coordinate prediction information, the Y-direction coordinate prediction information, the Z-direction coordinate prediction information and the X _ f of a real target in the kth group of mth frame echo signals of the l wave band(l，k-1)、Y_f(l，k-1)、Z_f(l，k-1)Respectively representing the X-direction coordinate, the Y-direction coordinate, the Z-direction coordinate and VX _ f in the filtering result of the kth-1 group of echo signals of the l wave band(l，k-1)、VY_f(l，k-1)Peg-top _ f(l，k-1)Respectively representing the X-direction velocity, the Y-direction velocity, the Z-direction velocity, AX _ f in the filtering result of the (k-1) th group of echo signals of the l wave band(l，k-1)、AY_f(l，k-1)、AZ_f(l，k-1)Respectively representing the acceleration in the X direction, the acceleration in the Y direction and the acceleration in the Z direction in the filtering result of the (k-1) th group of echo signals in the l wave band, and delta t(l，k，m)Representing the time difference from the fusion time center of the kth group of echo signals of the l wave band to the time center of the mth frame of echo signals of the kth group of the l wave band;
(4b) obtaining the position information of the best observation target in the three-dimensional coordinate system of the kth group of echo signals of the l wave band according to the three-dimensional coordinate prediction information of the real target and the three-dimensional position coordinate information of each observation target and the following formula:
wherein, X _ o(l，k，m)(x)、Y_o(l，k，m)(x)、Z_o(l，k，m)(x) Respectively representing X-direction coordinate information, Y-direction coordinate information, Z-direction coordinate information and delta X of the X observation target in the kth group of mth frame echo signals of the l wave band(l，k，m)(x)、ΔY(l，k，m)(x)、ΔZ(l，k，m)(x) Respectively representing the difference values of the observation information of the X-th observation target in the kth group of mth frame echo signals of the l wave band and the predicted information in X-direction coordinates, Y-direction coordinates and Z-direction coordinates, wherein X represents the observation target number, X is 1,2, …, tar _ num(l，k，m)，tar_num(l，k，m)Is the total number of observed targets, delta R, in the mth frame echo signal of the kth group of the l wave band(l，k，m)(x) Indicating the distance error between the observed information and the predicted information of the x-th observed target in the kth group of mth frame echo signals of the l wave band, { x | min [ Δ R [)(l，k，m)(x)]Means to make Δ R(l，k，m)(x) Minimum observed target number x _ best(l，k，m)，X_o(l，k，m)(x_best(l，k，m))、Y_o(l，k，m)(x_best(l，k，m))、Z_o(l，k，m)(x_best(l，k，m)) Respectively indicate the sum of the signals of the mth frame of the kth group in the l wave band so that Delta R is(l，k，m)(x) Minimum observed target x _ best(l，k，m)X-direction coordinate information, Y-direction coordinate information, Z-direction coordinate information, X _ o _ only(l，1，m)、Y_o_only(l，1，m)、Z_o_only(l，1，m)Respectively representing the position information of the optimal observation target in the three-dimensional coordinate system of the mth frame echo signal of the kth group of the l wave band.
Step 5, adding 1 to the value of M, and repeatedly executing the steps 2 to 4 until M is larger than M; thereby respectively obtaining the position information of the best observation target of the kth group of M frame echo signals of the l wave band in the three-dimensional coordinate system.
And 6, performing first-stage observation fusion on the position information of the optimal observation target in the three-dimensional coordinate system of the ith wave band kth group of M frame echo signals to obtain the target position information after the first-stage observation fusion of the ith wave band kth group of echo signals.
In step 6, performing first-stage observation fusion on the position information of the optimal observation target in the three-dimensional coordinate system of the ith wave band kth group of M frame echo signals by adopting the following formula to obtain the target position information after the first-stage observation fusion of the ith wave band kth group of echo signals:
wherein, X _ o _ inte(l，k)、Y_o_inte(l，k)、Z_o_inte(l，k)Respectively representing coordinate information of a target in the X direction, coordinate information in the Y direction, coordinate information in the Z direction and delta R after the first-stage observation fusion of the kth group of echo signals in the l wave band(l，k，m)(x_best(l，k，m)) And the minimum distance error between the observed information and the predicted information in the mth frame echo signals of the kth group of the ith wave band is represented.
Step 7, inputting the target position information after the first-stage observation fusion of the kth group of echo signals of the l wave band, the filtering result of the kth-1 group of echo signals of the l wave band and the observation fusion time interval into a filter for tracking filtering to obtain the filtering result of the kth group of echo signals of the l wave band, wherein the filtering result comprises a position in the direction of X, Y, Z, a speed in the direction of X, Y, Z, an acceleration in the direction of X, Y, Z and an error covariance matrix; and when k is 1, enabling the filtering result of the k-1 group echo signal of the l wave band to be initial target information.
In the step 7, the process is carried out,
note the(l，k，m)For the kth group of the l bandThe center time of m frames of echo signals, the observation fusion time center of the kth group of echo signals of the l wave bandIn step 7, the observation fusion time interval is the time interval between the observation fusion time center of the kth group of echo signals of the l wave band and the observation fusion time center of the kth-1 group of echo signals of the l wave band;
recording a filtering result of the kth group echo signal of the l wave band, wherein the filtering result comprises a position X _ f in the direction of X, Y, Z(l，k)、Y_f(l，k)、Z_f(l，k)X, Y, Z directional velocity Vx _ f(l，k)、VY_f(l，k)、VZ_f(l，k)Acceleration AX _ f in X, Y, Z direction(l，k)、AY_f(l，k)、AZ_f(l，k)And the error covariance matrix Φ _ f(l，k)。
And 8, adding 1 to the value of K, wherein m is equal to 1, and repeatedly executing the steps 2 to 7 until K is greater than K, so as to respectively obtain the filtering results of the K groups of echo signals of the l wave band.
And 9, adding 1 to the value of L, wherein K is 1, and m is 1, and repeatedly executing the steps 2 to 8 until L is greater than L, so as to respectively obtain the filtering results of the K groups of echo signals of each of the L bands.
And step 10, setting a filtering fusion time reference to obtain target position information of a filtering result of the K groups of echo signals of each wave band in the L wave bands on the filtering fusion time reference.
In a step 10 of the method, the method comprises the following steps,
setting a filter fusion time reference to { T1，T2，…，Ti，…，TN}，Ti+1-TiΔ T, i ═ 1,2, …, N-1, Δ T is a constant, representing the filter fusion time interval;
the observation fusion time center of the kth group of echo signals of the l wave band is recorded as t(l，k)The first bandIs noted as t(l，1)，t(l，2)，…，t(l，K)}; obtaining target position information of the l wave band on a filtering fusion time reference by a linear interpolation extrapolation method, wherein the target position information of the l wave band on the filtering fusion time reference comprises coordinate information in the X directionCoordinate information of Y directionCoordinate information in Z directionAnd error covariance matrixWherein the subscript (l, T)i) Represents the l-th band at the filter fusion time reference TiTarget location information on;
and enabling L to respectively take 1,2, … and L, thereby obtaining target position information of the filtering result of the K groups of echo signals of each wave band in the L wave bands on the filtering fusion time reference.
And 11, performing second-stage observation fusion on target position information of the filtering result of the K groups of echo signals of each wave band in the L wave bands on each filtering fusion time reference to obtain second-stage filtering fusion target position information, wherein the second-stage filtering fusion target position information comprises positions of the target in the three-dimensional coordinate system corresponding to each moment in the filtering fusion time reference, and thus the positions of the target in the three-dimensional coordinate system corresponding to each moment in the filtering fusion time reference are taken as the motion track of the target, and the low-altitude target tracking result is obtained.
In a step 11 of the method, the step of the method,
adopting the following formula to filter the K groups of echo signals of each wave band in the L wave bands at the filtering fusion timePerforming second-stage observation fusion on the target position information on the reference to obtain a filtering fusion time reference TiSecond stage filter fused target location information
Wherein,
let TiRespectively take T1，T2，…，Ti，…，TNAnd obtaining the target position information of the second-stage filtering fusion on each time reference.
Compared with the prior art, the low-altitude target tracking method based on multiband two-stage fusion provided by the invention has the advantages that the target detection performance in a low-signal-to-noise ratio low-altitude environment is greatly improved, and the target tracking precision is higher. The traditional target detection and tracking are carried out based on a single-band single-carrier-frequency signal, under the low-signal-to-noise-ratio and low-altitude environment, due to the influence of multipath effect, a target echo signal is completely submerged by a noise signal, and the detection probability of a target is greatly reduced. The invention utilizes multi-carrier frequency echo signals to ensure that at least one carrier frequency echo can detect the target under the environment with low signal-to-noise ratio, thereby improving the detection probability of the target. Due to the first-stage single-band multi-carrier frequency observation information fusion method, the detection information is more accurate, and the single-band tracking performance is improved. The second-stage multiband filtering fusion further improves the tracking precision and the tracking stability.
The effect of the invention is further illustrated by the following simulation test:
1. simulation conditions are as follows:
in order to verify the effectiveness of the low-altitude target tracking method based on multiband two-stage fusion, taking dual-band as an example, the band 1 is set to be 13G-16 GHz, and 5 carrier frequencies are respectively 13G, 13.75G, 14.5G, 15.25G and 16 GHz. The wave band 2 is 35G-38G, and the 5 carrier frequencies are 35G, 35.75G, 36.5G, 37.25G and 38GHz respectively. The radar height is 15 meters, the target height is 100 meters (low altitude), the target moves in the yoz plane, and the multipath reflection coefficient is 0.6.
2. Simulation content and results:
when the target initial point is about 8km and the signal-to-noise ratio is-15 dB, the target detection and tracking are respectively carried out by using the traditional single-waveband single-carrier frequency method and the method of the invention, and the tracking result is converted into distance and angle information. Fig. 2 shows that in a low-signal-to-noise ratio and low-altitude environment, a traditional single-band-based single carrier frequency method has a plurality of missed detection situations (the missed detection situation occurs when the distance is 0), but the method of the present invention has no missed detection situation, and the detection probability is greatly improved. As can be seen from FIG. 3(a), the distance tracking error of the traditional single-band single-carrier frequency-based method is-1.5 m to 1.5m, while the distance tracking error of the method of the present invention is-0.5 m to 0.5m, which is obviously superior to that of the traditional method; as can be seen from FIG. 3(b), the azimuth tracking error of the traditional single-band single-carrier frequency based method is-0.02 degree to 0.02 degree, while the azimuth tracking error of the method of the present invention is-0.005 degree to 0.005 degree, which is obviously superior to the traditional method; as can be seen from FIG. 3(c), the traditional single-band single-carrier frequency-based method has a tracking error of the pitch angle of-0.04 to 0.04 degrees, while the tracking error of the pitch angle of the method of the present invention is-0.008 to 0.008 degrees, which is obviously superior to the traditional method.
In conclusion, the tracking performance of the method is remarkably improved from both distance and angle compared with the tracking effect of the traditional single-waveband single-carrier frequency method.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (6)
1. A low-altitude target tracking method based on multi-band two-stage information fusion is characterized by comprising the following steps:
step 1, obtaining radar echo signals, wherein the radar echo signals comprise echo signals of L wave bands, the echo signals of each wave band are divided into K groups of echoes, and each group of echoes comprises M frames of echo signals;
let L be 1,2, …, L, denote the band index of the radar echo signal, K be 1,2, …, K, denote the number of groups in each band echo signal, and M be 1,2, …, M, denote the number of frames in each group of echo signals; initializing initial values of l, k and m to be 1 respectively;
step 2, obtaining target initial observation information according to the kth group of mth frame echo signals of the l wave band, wherein the target initial observation information comprises the number of observation targets, an initial observation distance vector, an initial observation azimuth angle vector and an initial observation pitch angle vector;
the number of the observation targets is multiple, wherein only one observation target is a real target; the initial observation distance vector comprises the distance of each observation target, the initial observation azimuth angle vector comprises the azimuth angle of each observation target, and the initial observation pitch angle vector comprises the pitch angle of each observation target;
step 3, obtaining three-dimensional position coordinate information of each observation target in a three-dimensional coordinate system according to the initial observation distance vector, the initial observation azimuth angle vector and the initial observation pitch angle vector;
step 4, setting three-dimensional coordinate prediction information of a real target in a kth group of mth frame echo signals of the l wave band, and obtaining the position information of the best observation target in a three-dimensional coordinate system of the kth group of mth frame echo signals of the l wave band according to the three-dimensional coordinate prediction information of the real target and the three-dimensional position coordinate information of each observation target;
step 5, adding 1 to the value of M, and repeatedly executing the steps 2 to 4 until M is larger than M; thereby respectively obtaining the position information of the best observation target of the kth group of M frame echo signals of the l wave band in the three-dimensional coordinate system;
step 6, performing first-stage observation fusion on the position information of the optimal observation target in the three-dimensional coordinate system of the kth group of M frame echo signals of the l wave band to obtain the target position information after the first-stage observation fusion of the kth group of echo signals of the l wave band;
step 7, inputting the target position information after the first-stage observation fusion of the ith wave band kth group of echo signals, the filtering result of the ith wave band kth-1 group of echo signals and the observation fusion time interval into a filter for tracking filtering to obtain the filtering result of the ith wave band kth group of echo signals, wherein the filtering result comprises the position of the target in the X, Y, Z direction, the speed in the X, Y, Z direction, the acceleration in the X, Y, Z direction and an error covariance matrix; when k is equal to 1, enabling a filtering result of a kth-1 group of echo signals of an l wave band to be initial target information, wherein the initial target information is an initial position of a target in the direction X, Y, Z;
step 8, adding 1 to the value of K, wherein m is equal to 1, and repeatedly executing the steps 2 to 7 until K is greater than K, so as to obtain filtering results of K groups of echo signals of the l wave band respectively;
step 9, adding 1 to the value of L, where K is 1 and m is 1, and repeatedly performing steps 2 to 8 until L > L, thereby obtaining filtering results of K sets of echo signals in each of L bands;
step 10, setting a filtering fusion time reference to obtain target position information of a filtering result of K groups of echo signals of each wave band in L wave bands on the filtering fusion time reference;
and 11, performing second-stage observation fusion on target position information of the filtering result of the K groups of echo signals of each wave band in the L wave bands on each filtering fusion time reference to obtain second-stage filtering fusion target position information, wherein the second-stage filtering fusion target position information comprises positions of the target in the three-dimensional coordinate system corresponding to each moment in the filtering fusion time reference, and thus the positions of the target in the three-dimensional coordinate system corresponding to each moment in the filtering fusion time reference are taken as the motion track of the target, and the low-altitude target tracking result is obtained.
2. The method for tracking the low-altitude target based on the multiband two-stage information fusion of claim 1, wherein in the step 4, the three-dimensional coordinate prediction information of the real target in the kth group of mth frame echo signals of the ith waveband is set, and specifically comprises:
(4a) when k is 1, setting three-dimensional coordinate prediction information of a real target in the mth frame echo signal of the kth group of the ith wave band as initial target information, wherein the initial target information is the initial position of the target in the direction of X, Y, Z;
when k is greater than 1, setting three-dimensional coordinate prediction information of a real target in the echo signal of the kth group of the mth frame in the ith wave band according to the following formula:
wherein, X _ p(l,k,m)、Y_p(l,k,m)、Z_p(l,k,m)Respectively representing the X-direction coordinate prediction information, the Y-direction coordinate prediction information, the Z-direction coordinate prediction information and the X _ f of a real target in the kth group of mth frame echo signals of the l wave band(l,k-1)、Y_f(l,k-1)、Z_f(l,k-1)Respectively representing the X-direction coordinate, the Y-direction coordinate, the Z-direction coordinate and VX _ f in the filtering result of the kth-1 group of echo signals of the l wave band(l,k-1)、VY_f(l,k-1)、VZ_f(l,k-1)Respectively representing the X-direction velocity, the Y-direction velocity, the Z-direction velocity, AX _ f in the filtering result of the (k-1) th group of echo signals of the l wave band(l,k-1)、AY_f(l,k-1)、AZ_f(l,k-1)△ t respectively representing the acceleration in the X direction, the acceleration in the Y direction and the acceleration in the Z direction in the filtering result of the (k-1) th group of echo signals in the l wave band(l,k,m)Representing the time difference from the fusion time center of the kth group of echo signals of the l wave band to the time center of the mth frame of echo signals of the kth group of the l wave band;
(4b) obtaining the position information of the best observation target in the three-dimensional coordinate system of the kth group of echo signals of the l wave band according to the three-dimensional coordinate prediction information of the real target and the three-dimensional position coordinate information of each observation target and the following formula:
wherein, X _ o(l,k,m)(x)、Y_o(l,k,m)(x)、Z_o(l,k,m)(x) Respectively representing the X-direction coordinate information, the Y-direction coordinate information and the Z-direction coordinate information of the X-th observation target in the kth group of mth frame echo signals of the l wave band △ X(l,k,m)(x)、△Y(l,k,m)(x)、△Z(l,k,m)(x) Respectively representing the difference values of the observation information of the X-th observation target in the kth group of mth frame echo signals of the l wave band and the predicted information in X-direction coordinates, Y-direction coordinates and Z-direction coordinates, wherein X represents the observation target number, X is 1,2, …, tar _ num(l,k,m)，tar_num(l,k,m)△ R is the total number of observed targets in the mth frame echo signal of the kth group of the ith wave band(l,k,m)(x) Indicating the distance error between the observed information and the predicted information of the x-th observed target in the kth group of mth frame echo signals of the l wave band, { x | min [ △ R(l,k,m)(x)]Expressing that △ R is sought(l,k,m)(x) Minimum observed target number x _ best(l,k,m)，X_o(l,k,m)(x_best(l,k,m))、Y_o(l,k,m)(x_best(l,k,m))、Z_o(l,k,m)(x_best(l,k,m)) Respectively represent △ R in the mth frame echo signal of the kth group of the l wave band(l,k,m)(x) Minimum observed target x _ best(l,k,m)X-direction coordinate information, Y-direction coordinate information, Z-direction coordinate information, X _ o _ only(l,k,m)、Y_o_only(l,k,m)、Z_o_only(l,k,m)Respectively representing the position information of the optimal observation target in the three-dimensional coordinate system of the mth frame echo signal of the kth group of the l wave band.
3. The method for tracking the low-altitude target based on the multiband two-stage information fusion as claimed in claim 2, wherein in step 6, the following formula is adopted to perform the first-stage observation fusion on the position information of the best observation target in the three-dimensional coordinate system of the ith group of M frame echo signals of the l waveband, so as to obtain the first-stage observation fused target position information of the kth group of echo signals of the l waveband:
wherein, X _ o _ inte(l,k)、Y_o_inte(l,k)、Z_o_inte(l,k)Respectively representing the coordinate information of the target in the X direction, the coordinate information in the Y direction and the coordinate information in the Z direction after the first-stage observation fusion of the kth group of echo signals in the l wave band, △ R(l,k,m)(x_best(l,k,m)) And the minimum distance error between the observed information and the predicted information in the mth frame echo signals of the kth group of the ith wave band is represented.
4. The method for tracking the low-altitude target based on the multiband two-stage information fusion as claimed in claim 3, wherein in step 7,
note the(l,k,m)The central time of the mth frame echo signal of the kth group of the l wave band is the observation fusion time center of the kth group of echo signals of the l wave bandIn step 7, the observation fusion time interval is the time interval between the observation fusion time center of the kth group of echo signals of the l wave band and the observation fusion time center of the kth-1 group of echo signals of the l wave band;
recording a filtering result of the kth group echo signal of the l wave band, wherein the filtering result comprises a position X _ f in the direction of X, Y, Z(l,k)、Y_f(l,k)、Z_f(l,k)X, Y, Z directional velocity Vx _ f(l,k)、VY_f(l,k)、VZ_f(l,k)Acceleration AX _ f in X, Y, Z direction(l,k)、AY_f(l,k)、AZ_f(l,k)And the error covariance matrix Φ _ f(l,k)。
5. The method for tracking the low-altitude target based on the multiband two-stage information fusion as claimed in claim 4, wherein in step 10,
setting a filter fusion time reference to { T1,T2,…,Ti,…,TN}，Ti+1-Ti△ T, where i is 1,2, …, N-1, △ T is a constant, representing the filter fusion time interval, TiRepresenting the ith filter fusion time reference;
the observation fusion time center of the kth group of echo signals of the l wave band is recorded as t(l,k)Then the observation fusion time series of the l-th band is recorded as { t }(l,1),t(l,2),…,t(l,K)}; obtaining target position information of the l wave band on a filtering fusion time reference by a linear interpolation extrapolation method, wherein the target position information of the l wave band on the filtering fusion time reference comprises coordinate information in the X directionCoordinate information of Y directionCoordinate information in Z directionAnd error covariance matrixWherein the subscript (l, T)i) Represents the l-th band at the filter fusion time reference TiTarget location information on;
and enabling L to respectively take 1,2, … and L, thereby obtaining target position information of the filtering result of the K groups of echo signals of each wave band in the L wave bands on the filtering fusion time reference.
6. The method for tracking the low-altitude target based on the multiband two-stage information fusion as claimed in claim 5, wherein in step 11,
performing second-stage observation fusion on the target position information of the filtering result of the K groups of echo signals of each wave band in the L wave bands on the filtering fusion time reference by adopting the following formula to obtain a filtering fusion time reference TiSecond stage filter fused target location information
Wherein,
wherein, the [ alpha ], [ beta ]]-1It is indicated that the inversion operation is performed,represents the l-th band at the filter fusion time reference TiThe coordinate information of the X direction in the target position information,represents the l-th band at the filter fusion time reference TiCoordinate information of the Y direction in the target position information,represents the l-th band at the filter fusion time reference TiCoordinate information of the Z direction in the target position information; let TiRespectively take T1,T2,…,Ti,…,TNAnd obtaining the target position information of the second-stage filtering fusion on each time reference.
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